Automatic Control and Information Sciences
ISSN (Print): 2375-1649 ISSN (Online): 2375-1630 Website: Editor-in-chief: Apply for this position
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Automatic Control and Information Sciences. 2017, 3(1), 1-4
DOI: 10.12691/acis-3-1-1
Open AccessArticle

Design and Implementation of Ball and Beam System Using PID Controller

A. Taifour Ali1, , Ahmed A. M.1, Almahdi H. A.1, Osama A. Taha1 and A. Naseraldeen A.1

1Sudan University of Science and Technology

Pub. Date: April 26, 2017

Cite this paper:
A. Taifour Ali, Ahmed A. M., Almahdi H. A., Osama A. Taha and A. Naseraldeen A.. Design and Implementation of Ball and Beam System Using PID Controller. Automatic Control and Information Sciences. 2017; 3(1):1-4. doi: 10.12691/acis-3-1-1


The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design Proportional Integral Derivative (PID) controller to control the ball position. The system consists of an Arduino microcontroller. It receives the ball position from ultrasonic distance sensor and compares it with the desired distance which can be set by the user. PID algorithm has built in Arduino to process the difference in signal between desired and real position into control signal. Arduino sends control signal to the DC servomotor which rotate to change the ball position and meet the desired distance. MATLAB software program has been used to plot instant system response by interfacing Arduino with computer to determine the system characteristics with different values of controller parameters in order to choose parameters values which obtained best performance for the system.

ball beam PID implementation

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